Robots operating in human-centered environments are typically designed to execute explicit instructions, and most robot-learning datasets likewise pair observations with task instructions or low-level actions. Although recent work has begun to explore proactive embodied assistance, existing resources target different s...
Zhi-Hao Gu, Kenny Zhu, Yuan-Feng Wu et al.· 0 citations
We study lower bounds on the first-order oracle complexity of smooth nonconvex-concave minimax optimization. We consider objectives $f$ that are jointly $L$-smooth in the primal and dual variables $(x,y)$, concave in $y$, and whose primal value function $\Phi(x) := \max_{y\in\mathcal Y} f(x,y)$ satisfies the initial-ga...
This work presents VistaVLA, a novel two-stage framework that constructs a geometry- and semantics-aware 3D cognitive representation from 3D Gaussian primitives and grounds it as compact context tokens for VLA policy learning, and introduces Merge-then-Query (MtQ), a token summarization mechanism.
This work proposes a novel single-loop algorithm based on a constrained reformulation in which lower-level stationarity is imposed as a constraint, and constructs a regularized Lagrangian by introducing a quadratic regularizer and restricting the dual variable to a bounded domain.
